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SITL: prevent the GPS pipe filling up and delaying GPS readings

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This commit is contained in:
Andrew Tridgell 2012-11-28 14:23:53 +11:00
parent 025e27aa1c
commit 4f37a9363a
1 changed files with 12 additions and 0 deletions
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12
libraries/Desktop/support/sitl_gps.cpp
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@ -15,6 +15,7 @@
#include <SITL.h> #include <SITL.h>
#include <AP_GPS.h> #include <AP_GPS.h>
#include <AP_GPS_UBLOX.h> #include <AP_GPS_UBLOX.h>
#include <sys/ioctl.h>
#include "desktop.h" #include "desktop.h"
#include "util.h" #include "util.h"
@ -46,6 +47,17 @@ static struct {
*/ */
ssize_t sitl_gps_read(int fd, void *buf, size_t count) ssize_t sitl_gps_read(int fd, void *buf, size_t count)
{ {
#ifdef FIONREAD
// use FIONREAD to get exact value if possible
int num_ready;
while (ioctl(fd, FIONREAD, &num_ready) == 0 && num_ready > 256) {
// the pipe is filling up - drain it
uint8_t tmp[128];
if (read(fd, tmp, sizeof(tmp)) != sizeof(tmp)) {
break;
}
}
#endif
return read(fd, buf, count); return read(fd, buf, count);
} }